Launch tube restraint system for unmanned aerial vehicle (UAV)

ABSTRACT

An unmanned aerial launch vehicle (UAV) launch apparatus is disclosed that includes a UAV ( 400 ) having an exterior surface, an aerial vehicle (AV) tab ( 510 ) extending from the exterior surface, a tube ( 440 ) containing the UAV ( 400 ), the tube ( 440 ) including a tab stop ( 515 ) configured to controllably hinder travel of the AV tab ( 510 ) past the tab stop ( 515 ), and a pair of opposing tab guides ( 700, 705 ) configured to position the AV tab ( 510 ) for travel over the tab stop ( 515 ).

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of International Patent ApplicationNo. PCT/US12/67086, filed Nov. 29, 2012, which claims priority to andthe benefit of U.S. Provisional Patent Application Ser. No. 61/564,792filed Nov. 29, 2011, both of which are hereby incorporated herein byreference in their entirety for all purposes.

BACKGROUND

1. Field of the Invention

This invention relates to launch tubes and canisters andreport-suppressing launch tubes for an unmanned aerial vehicle (UAV).

2. Description of the Related Art

Typically UAVs are shipped to a launch site in an unassembled state. Atthe site they are assembled, tested, and launched. Launching istypically executed by hand, by an elastic tether, a powered wench, froma moving vehicle, or some combination thereof. Such methods can be timeconsuming and/or cumbersome. Once launched, a UAV may receive uplinksand may be guided by a human-in-the-loop, a human intermittentlyup-linking course corrections, e.g., via supervisory control, or by apreloaded intercept/strike point in combination with an onboard flightpath guidance generator and outputs of inertial sensors and/or from aGlobal Positioning System (GPS) receiver.

SUMMARY

Embodiments of the invention include an unmanned aerial launch vehicle(UAV) launch apparatus, that may include a UAV having an exteriorsurface, an aerial vehicle (AV) tab extending from the exterior surface,and a tube containing the UAV, the tube comprising a tab stop configuredto hinder travel of the AV tab about the tab stop and a tab guideconfigured to position the AV tab for travel about the tab stop. In oneembodiment, the tube may include an open end and the tab stop may bedisposed adjacent the open end. In other embodiments, the tab guide mayinclude a trough formed in an inner circumferential wall of the tube. Insuch a case, the tab stop may include an end of the trough. In otherembodiments, the tab guide may extend from an interior side of the tube.The tab guide may be configured to guide the AV tab axially along thetube, and the tab guide may include opposing parallel walls. The tabstop may include an end cap extending between the opposing parallelwalls, and may include a tab stop that may be a prepeg materialextension extending into an interior of the tube. In other embodiments,a cap may be positioned over the open end, the cap having a cap tab stopextending axially into the interior of the tube adjacent to the tabguide. Such an embodiment may also include a strap extending through thestrap guide and restraining the cap. In other embodiments, a cap may bepositioned over the open end, the cap having a strap guide configured toaccept a strap. The embodiment may include a strap extending through thestrap guide and restraining the cap.

Embodiments of an unmanned aerial launch vehicle (UAV) launch apparatusmay also include a tube having an open end, and a pair of opposing tabguides extending axially along an interior of the tube, and at least onetab stop in at least one of the opposing tab guides. In such anembodiment, the at least one tab stop may be disposed adjacent the openend, and each of the pair of opposing tab guides may include opposingparallel walls. In one embodiment, the at least one tab stop may includea prepeg material extension extending into an interior of the tube. Acap may be positioned over the open end, the cap having a cap tab stopextending axially into the interior of the tube adjacent to the at leastone tab guide. A cap may be positioned over the open end, the cap havinga strap guide configured to accept a strap. A strap may extend throughthe strap guide and restrain the cap where the strap may be configuredto forcibly restrain a UAV within the tube if the UAV is fired while thecap is on the tube.

A method of launching an unmanned aerial launch vehicle (UAV) includesaxially restraining an aerial vehicle (AV) tab extending from the UAVusing a tab stop so that the UAV is restrained in the launch tube,guiding the AV tab to abut the tab stop using a tab guide, and providingan axial launch force to the UAV, wherein the launch force is at leastsufficient to enable elastic deformation of at least one of the AV taband the tab stop to enable the AV tab to translate over the tab stop toenable the UAV to translate axially out of the launch tube. In oneembodiment, the tab guide includes a trough in an inner circumferentialwall of the launch tube. In other embodiments, the tab guide includes apair of opposing walls extending from an inner circumferential wall ofthe launch tube. Embodiments of the method may include removing a capfrom an open end of the launch tube, the cap having a cap stop extendinginto an interior of the launch tube and configured to engage the AV tabshould the AV tab travel to the open end of the launch tube. The methodmay also include removing a strap from a strap guide of the cap, thestrap coupled to an exterior of the launch tube.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments are illustrated by way of example and not limitation in thefigures of the accompanying drawings, and in which:

FIGS. 1A-1D depict exemplary embodiments of one end of a UAV launchtube, the UAV launch tube having a tab guide configured to guide an AVtab of a UAV axially along the tube for axial restraint by a tab stop;

FIG. 2A is a perspective cut-away view of one exemplary embodiment of aUAV launch tube that includes a tab guide having opposing parallel wallsand that includes a tab stop disposed between the pair of opposingparallel walls;

FIG. 2B is a perspective cut-away view of one exemplary embodiment of aUAV launch tube that includes a tab guide having opposing parallel wallsand that includes one or more tab stops disposed on the opposingparallel walls;

FIG. 3 is a perspective cut-away view of another embodiment of a UAVlaunch tube that includes a tab guide having opposing parallel walls anda tab stop forming an end cap for the opposing walls;

FIGS. 4, 5A, 5B, and 6 depict an exemplary UAV launch with the tab guideguiding the AV tab to abut the tab stop and the gas generator providingsufficient launch force to enable elastic deformation of at least one ofthe AV tab and tab stop to enable the AV tab to translate over the tabstop and out of the launch tube;

FIG. 7 depicts an exemplary embodiment of a UAV launch tube thatincludes two tab guides to controllably hinder travel of respective AVtabs past, or about, their respective tab stops;

FIG. 8 is a top cross-sectional view of one exemplary embodiment of alaunch tube having inner and outer circumferential walls disposed aboutan aperture, with two tab guides and respective tab stops on opposinginterior sides of the inner circumferential wall;

FIG. 9 is a top cross-sectional view of another exemplary embodiment ofa launch tube tab; the tab having a single walled structure disposedabout an aperture, with two tab guides and respective tab stops onopposing interior sides;

FIG. 10 depicts a broken-line side view to illustrate one embodiment ofa strap extending through top and bottom tab guides and around a launchtube containing a UAV to prevent inadvertent forceful escape of the UAV;

FIG. 11 illustrates the system of FIG. 10, with two ends of the strapseparated in preparation for removal of the cap from the launch tube toenable UAV launch; and

FIG. 12 is a broken-line perspective view of the UAV in the launch tube,with the cap and strap removed from the launch tube in preparation forlaunch of the UAV.

DETAILED DESCRIPTION

An unmanned aerial vehicle (UAV) launch apparatus is disclosed thatincludes a tube containing a UAV, the UAV having an aerial vehicle (AV)tab extending from its exterior surface, and a tab stop in the tube thatis configured to controllably hinder travel of the AV tab past the tabstop, and a pair of opposing tab guides in the tube that are configuredto position the AV tab for travel over the tab stop during operation. Inthis manner, the UAV is controllably restrained in the tube prior tolaunch due to interference between the UAV's AV tab and the tube's tabstop. However, during operation, the launch force is at least sufficientto enable elastic deformation of at least one of the AV tab and the tabstop to enable the AV tab to translate over the tab stop and totranslate axially out of the launch tube. The UAV launch apparatus mayalso include a cap for positioning over the open end of the tube, thecap having a cap stop extending into an interior of the launch tube andconfigured to engage the AV tab should the AV tab travel to the open endof the launch tube. The cap may have a strap guide on its exteriorsurface to receive a strap to further constrain the UAV within thelaunch tube when not in operation.

In some embodiments, the tube's tab stop functions to retain the UAV,via the AV tab, within the tube when the UAV is urged forward by variousforces that may be incurred during handling or maneuvering, e.g., anaccidental dropping of the tube with the UAV inside. However, the tube'stab stop and the AV tab are configured to allow the UAV to exit the tubeupon a user activated launch or other deployment. The cap, the cap stopand the strap, function to retain the UAV within the tube duringtransport and storage. The strap and cap are removed prior to, and toallow for, launch of the UAV from the tube.

FIGS. 1A-1D illustrate exemplary embodiments of a portion of UAV 100that is axially restrained in a launch tube 105 for test and furthertransportation to a launch site. The launch tube 105 may have asingle-walled structure disposed about an aperture 110 or may have innercircumferential walls 120 and outer circumferential walls. The UAV 100is illustrated disposed in the aperture 110 adjacent an innercircumferential wall 120, with the UAV 100 having an AV tab 125slideably guided by a tab guide 130. A tab stop 135 may extend betweenopposing parallel walls of the tab guide 130 (See FIG. 2) and outwardfrom the inner circumferential wall 120 to hinder the AV tab 125 fromsliding out of the aperture 110. The inner circumferential wall 120 maybe formed of a prepeg substrate such as epoxy prepreg Kevlar™. The tabguide 130 may be formed by an extension of the prepeg substrate duringformation of the inner circumferential wall 120 or may be a separatecomponent that is coupled to the inner circumferential wall 120. A cap140 may be seated on the tube 105 at its open end and may have a capstop 145 extending axially into the interior of the tube 105 adjacent tothe tab guide 130. In some embodiments, the cap stop 145 may extend intothe tab guide 130 so as to be adjacent to the AV tab 125 when the cap140 is engaged to the tube 105 (FIGS. 1B and 1D). Accordingly, with thecap 140 engaged to the tube 105, the AV tab 125 may be furtherconstrained in its movement. However, once the cap 140 is removed fromthe tube 105 (FIG. 1C), the AV tab 125 may pass over the tab stop 135during a launch, or the deployment, of the UAV 100. In the embodimentsof FIGS. 1B and 1C, with the cap, or the cap 140 and strap (see FIG.12), in position the UAV 100 will be retained at or about its positionwithin the tube during actions that would tend to urge it out ofposition, e.g., actions such as being handled, maneuvered, dropped, andeven accidently or prematurely being launched—due to an operation of thetube's gas generators. With the cap 140 and strap removed theseembodiments allow the UAV 100 to continue to be retained in the tube foractions that would tend to urge it out of position, e.g., actions suchas being handled, maneuvered or dropped, but would allow the UAV 100 toexit the tube upon a launch. In other embodiments, the cap stop 145 mayextend further into the launch tube 105 so as to be adjacent to the AVtab 125 when the cap 140 is engaged to the tube 105 (FIG. 1D). In theembodiment of FIG. 1D, the cap stop 145 may act as the sole stop toretain the AV tab 125 in place while the cap 140 is engaged. The cap 140may have a strap guide 150 configured to accept a strap (See FIG. 12)that restrains the cap 140 onto the tube 105.

FIG. 2A is a perspective cut-away view illustrating the tab guide 130and tab stop 135 first illustrated in FIG. 1. The tab guide 130 may bein the form of opposing parallel walls (200, 205) that extend from theinner circumferential wall 120. Although illustrated as rectangular incross section, the opposing parallel walls may be formed duringformation of the epoxy prepreg inner circumferential wall 120 and so maydefine different cross-sections, such as a semi-circular cross section.In one embodiment, the tab guide 130 may be formed as a trough in theinner circumferential wall 120 or as a single rail to axially guide asuitable AV tab (not shown). The tab stop 135 may also be formed duringformation of the epoxy prepreg inner circumferential wall 120 and mayextend away from the inner circumferential wall 120 between the opposingparallel walls (200, 205). In the embodiment that is a trough formed inthe inner circumferential wall 120, the tab stop 135 may extend upthrough a base of the tab guide to a level that is defined by theremainder of the inner circumferential wall 120 so as to avoid impinginginto the aperture 110. The tab stop 135 may vary in size and height inthe channel defined by the walls 200 and 205, depending on the specificrequirements for retention prior to launch and allowing for the launch.

FIG. 2B is a perspective cut-away view illustrating the tab guide 130and an exemplary embodiment having one or more tab stops (136, 137). Inone embodiment, the tab stops (136,137) may be disposed on the opposingparallel walls of the tab guide 130 and extend inwards toward eachother, such that an AV tab (See FIGS. 1A-1D) may pass through thechannel created by the tab guide 130 and between the one or more tabstops (136,137).

FIG. 3 is a perspective cut-away view of a tab guide that incorporates,in one embodiment, a tab stop. The tab guide 300 may continue to extendbetween the opposing parallel walls (310, 315) to establish a tab stop305 that is an end cap. In an alternative embodiment, a tab guide mayinclude a trough (not shown) in the inner circumferential wall 120, withthe tab stop represented by an end of the trough so that an AV tabaxially guided by the trough is hindered from further axial progressthrough the aperture by the end of the trough. In either of theembodiments illustrated in FIGS. 2 and 3, the tab guide may beconfigured to guide an AV tab to abut the tab stop and may position theAV tab for travel over the tab stop. The tab stop may be configured tocontrollably hinder travel of the AV tab past the tab stop. For example,during operation such as when an axial launch force is applied to theUAV, the launch force may be at least sufficient to enable elasticdeformation of at least one of the AV tab and the tab stop to enable theAV tab to translate over the tab stop to enable the UAV to translateaxially out of the launch tube.

FIGS. 4, 5A, 5B, and 6 illustrate one embodiment of a UAV launch tubeand UAV 400 during operation, with a tab guide in the tube guiding an AVtab 510 on the UAV 400 to abut the tab stop 515, and the gas generator415 providing sufficient launch force to enable elastic deformation ofat least one of the AV tab 510 and tab stop 515 to enable the AV tab 510to translate over the tab stop 515 and out of the launch tube. A UAV 400may be seated on a launch sabot 405, with the launch sabot 405substantially forming a gas seal with an inner circumferential wall 410when a gas generator 415 pressurizes a high-pressure volume 420. A cap425 is seated on an open end 427 of the UAV launch tube to preventejection of the UAV during transport. A strap 430 may be guided by astrap guide 435 around the cap 425 to hold it in place on the launchtube 440. A strap buckle 445 may detachably attach both ends of thestrap 430.

In FIG. 5A, the gas generator 415 is depicted as generating gas 500 topressurize the high-pressure volume 420—resulting in differentialpressure against the launch sabot 405 between the high-pressure volume420 and the remainder of the launch tube 505. The sabot 405 may thusdrive an AV tab 510 jutting from the UAV 400 forceably over a tab stop515 that may extend from the inner circumferential wall 410. The launchforce may cause elastic deformation of at least one of the AV tab 510and the tab stop 515 to enable the AV tab 510 to translate over the tabstop 515 to enable the UAV 400 to translate axially out of the launchtube 440. In FIG. 5B, the AV tab 510 and the tab stop 515 may pass byeach other during the launch of the UAV 400. This movement may cause adeflection of the tube 440, as illustrated by the arrows (516, 518).Additionally, in some embodiments, the movement of the UAV 400 relativeto the tube 440 may cause both deflection of the tube 440, asillustrated by the arrows (516, 518), as well as deformation of the tabstop 515 and/or deformation of the AV tab 510, as illustrated by thearrow 517. In some embodiments, the UAV 400 launch may cause the tube440 to expand outward on both sides, as illustrated by the two outwardfacing arrows (516, 518). In other embodiments, the UAV 400 itself maydeform to move past a more rigid tube 440 and tab stop 515, asillustrated by the arrow 517. In FIG. 6, the gas generator 415 continuesto generate gas 500 to propel the UAV 400 out of the launch tube 440 andthrough an aperture 600.

FIG. 7 illustrates a UAV launch tube that includes, in one embodiment,two tab guides on opposite interior sides of the launch tube tocontrollably hinder travel of respective AV tabs past respective tabstops. Opposing tab guides (700, 705) extend axially along an interiorof a launch tube 710 and may be configured to guide respective AV tabs(715, 720) to abut respective tab stops (725, 730). Each of the tabstops (725, 730) may be disposed adjacent an open end 735 of the launchtube 710. A cap 740 is positioned over the open end 735, the cap havingcap stops (745, 750) extending axially into the interior of the tube 710adjacent the tab guides (700, 705) to engage the AV tabs (715, 720)should the AV tabs (715, 720) travel to the open end of the launch tube.The cap 740 may have a cap guide 755 configured to accept a strap (notshown) to center the strap along a center section of the cap 740 toprovide more effective restraint of the cap 740 onto the tube 710. Inpreparation for launch of the UAV 760, the strap may be removed from thecap guide 755 of the cap 740, the strap detachably coupled to anexterior of the launch tube 710, and the cap 740 may be removed from theopen end 735 of the launch tube 710.

FIG. 8 is a top cross-sectional view of one exemplary embodiment of alaunch tube 835 that has a tab guide 800 on each of two opposing sidesof an inner circumferential wall 840 disposed about an aperture 850. Inone embodiment, each tab guide 800 includes a pair of opposing parallelwalls (805, 810) (815, 820) configured to position an AV tab (not shown)for travel over respective tab stops (825, 830). The tube 835 has innerand outer circumferential walls (840, 845) disposed about an aperture850, with each tab guide 800 extending from the inner circumferentialwall 840. Each of the inner and outer circumferential walls (840, 845)may be formed of a prepeg substrate such as epoxy prepreg Kevlar™. Thetab guides 800 and tab stops (825, 830) may be formed by an extension ofthe prepeg substrate during formation of the inner circumferential wall840 or may be a separate component that is coupled to the innercircumferential wall 840.

FIG. 9 is a top cross-sectional view of another exemplary embodiment ofa launch tube tab having a single-walled structure disposed about anaperture, with two tab guides and respective tab stops on opposinginterior sides. In the embodiment depicted, each tab guide 900 mayinclude a pair of opposing parallel walls (905, 910) (915, 920); thewalls configured to position an AV tab (not shown) for travel overrespective tab stops (925, 930).

FIG. 10 illustrates one embodiment of a safety strap 430 that extendsaround the cap 140 and UAV launch tube 105 to prevent inadvertent andaccidental forceful escape of the UAV from the launch tube. The strap430 preferably extends over a top of the cap 140 and through the strapguide 150 to secure the cap in place on the launch tube 105. In oneembodiment, the strap 430 extends down around an exterior of the launchtube 105 to a bottom strap guide 150 that may be the same type as thetop strap guide 150. The strap may then have both its ends detachablycoupled, such as by buckles 445 or other attachment. The strap 430 andbuckle 445 may be designed with sufficient strength to preventinadvertent forceful escape of the UAV through the aperture, such as ifthe gas generator 415 (see FIGS. 4, 5A, and 6) prematurely triggers withthe cap 140 still on the launch tube 105. In such an accident, or otherincidents, the launch tube cap is restrained and the UAV remains in thelaunch tube by means of the strap 430 holding the cap 140 securely inplace on the launch tube 105.

FIGS. 11 and 12 illustrate preparation of the launch tube assembly forlaunch of the UAV 100. The buckles 445 are decoupled from one anotherand the cap 140 may be removed from the launch tube 105. In oneembodiment, the strap 430 and its buckles 445 may be removed from thestrap guide 150 and set aside. The cap 140 may then be entirelydisconnected from the launch tube 105 and set aside to facilitate stablelaunch of the UAV 100. In another embodiment, the strap 430 may remaindetachably and guidably connected to either the upper or lower strapguides 150, or both, and so the cap 140 is still connected to the launchtube 105 and yet out of the travel path of the UAV 100 for its launch.In other embodiments, the strap guide 150 may not require a top portionin order to hold the strap 430 in place (not shown). Two guides may beutilized on either side of the strap 430 at the top and bottom tofacilitate removal of the strap 430 and the cap 140.

It is contemplated that various combinations and/or sub-combinations ofthe specific features and aspects of the above embodiments may be madeand still fall within the scope of the invention. Accordingly, it shouldbe understood that various features and aspects of the disclosedembodiments may be combined with or substituted for one another in orderto form varying modes of the disclosed invention. Further it is intendedthat the scope of the present invention herein disclosed by way ofexamples should not be limited by the particular disclosed embodimentsdescribed above.

What is claimed is:
 1. An unmanned aerial launch vehicle (UAV) launchapparatus, comprising: a UAV having an exterior surface; an aerialvehicle (AV) tab extending from the exterior surface; and a tubecontaining the UAV, the tube comprising: a tab stop configured to hindertravel of the AV tab past the tab stop; and a tab guide configured toposition the AV tab for travel over the tab stop.
 2. The apparatus ofclaim 1, wherein the tube comprises an open end and the tab stop isdisposed adjacent the open end.
 3. The apparatus of claim 1, wherein thetab guide comprises a trough formed in an inner circumferential wall ofthe tube.
 4. The apparatus of claim 3, wherein the tab stop comprises anend of the trough.
 5. The apparatus of claim 1, wherein the tab guideextends from an interior side of the tube.
 6. The apparatus of claim 1,wherein the tab guide is configured to guide the AV tab axially alongthe tube.
 7. The apparatus of claim 3, wherein the tab guide comprisesopposing parallel walls.
 8. The apparatus of claim 4, wherein the tabstop comprises an end cap extending between opposing parallel walls. 9.The apparatus of claim 4, wherein the tab stop comprises a prepegmaterial extension extending into an interior of the tube.
 10. Theapparatus of claim 1, further comprising: a cap positioned over the openend, the cap having a cap tab stop extending axially into the interiorof the tube adjacent to the tab guide.
 11. The apparatus of claim 10,further comprising: a strap extending through a strap guide andrestraining the cap.
 12. The apparatus of claim 1, further comprising: acap positioned over the open end, the cap having a strap guideconfigured to accept a strap.
 13. The apparatus of claim 12, furthercomprising: a strap extending through the strap guide and restrainingthe cap.
 14. An unmanned aerial launch vehicle (UAV) launch apparatus,comprising: a tube having an open end; a pair of opposing tab guidesextending axially along an interior of the tube; and at least one tabstop in at least one of the opposing tab guides.
 15. The apparatus of14, wherein the at least one tab stop is disposed adjacent the open end.16. The apparatus of 14, wherein each of the pair of opposing tab guidescomprise opposing parallel walls.
 17. The apparatus of claim 16, whereinthe at least one tab stop comprises a prepeg material extensionextending into an interior of the tube.
 18. The apparatus of claim 14,further comprising: a cap positioned over the open end, the cap having acap tab stop extending axially into the interior of the tube adjacent tothe at least one tab guide.
 19. The apparatus of claim 14, furthercomprising: a cap positioned over the open end, the cap having a strapguide configured to accept a strap.
 20. The apparatus of claim 19,further comprising a strap extending through the strap guide andrestraining the cap, the strap configured to forcibly restrain anunmanned aerial vehicle (UAV) within the tube if the UAV is fired whilethe cap is on the tube.
 21. A method of launching an unmanned aeriallaunch vehicle (UAV), comprising: axially restraining an aerial vehicle(AV) tab extending from the UAV using a tab stop so that the UAV isrestrained in the launch tube; guiding the AV tab to abut the tab stopusing a tab guide; and providing an axial launch force to the UAV,wherein the launch force is at least sufficient to enable elasticdeformation of at least one of the AV tab and the tab stop to enable theAV tab to translate over the tab stop to enable the UAV to translateaxially out of a launch tube.
 22. The method of claim 21, wherein thetab guide comprises a trough in an inner circumferential wall of thelaunch tube.
 23. The method of claim 21, wherein the tab guide comprisesa pair of opposing walls extending from an inner circumferential wall ofthe launch tube.
 24. The method of claim 21, further comprising:removing a cap from an open end of the launch tube, the cap having a capstop extending into an interior of the launch tube and configured toengage the AV tab should the AV tab travel to the open end of the launchtube.
 25. The method of claim 21, further comprising: removing a strapfrom a strap guide of the cap, the strap detachably coupled to anexterior of the launch tube.